From f177679e6171a726165676ecd5e31d1605f9a91e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 4 Nov 2019 14:49:07 +1100 Subject: [PATCH] autotest: add more tests for mount behaviour --- Tools/autotest/arducopter.py | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index a6a77eb299..297ae1743b 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -3317,6 +3317,7 @@ class AutoTestCopter(AutoTest): raise self.progress("Testing mount ROI behaviour") + self.drain_mav_unparsed() self.test_mount_pitch(0, 0.1) start = self.mav.location() self.progress("start=%s" % str(start)) @@ -3355,6 +3356,38 @@ class AutoTestCopter(AutoTest): ) self.test_mount_pitch(-7.5, 1) + start = self.mav.location() + (roi_lat, roi_lon) = mavextra.gps_offset(start.lat, + start.lng, + -100, + -200) + roi_alt = 0 + self.progress("Using MAV_CMD_DO_SET_ROI (COMMAND_INT)") + self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_ROI, + 0, + 0, + 0, + 0, + roi_lat*1e7, + roi_lon*1e7, + roi_alt, + frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, + ) + self.test_mount_pitch(-7.5, 1) + self.progress("Using MAV_CMD_DO_SET_ROI (COMMAND_INT), absolute-alt-frame") + # this is pointing essentially straight down + self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_ROI, + 0, + 0, + 0, + 0, + roi_lat*1e7, + roi_lon*1e7, + roi_alt, + frame=mavutil.mavlink.MAV_FRAME_GLOBAL, + ) + self.test_mount_pitch(-70, 1) + self.progress("checking ArduCopter yaw-aircraft-for-roi") try: self.context_push()